Multistatic radar point cloud formation using a sensor waveform encoding schema

Abstract

Methods and apparatus disclosed within provide a solution to problems associated with objects located in a blind spot of a radar apparatus of a first vehicle. An identifier included a set of received radar signals may be extracted from the received radar signals to identify a radar device of a second vehicle. Information may then be received that identifies a location of the second vehicle. This received information may also include operational characteristics of the received radar signals. Evaluations may then be performed on the received radar signals using the received information such that a location of an object located in the blind spot of the radar apparatus may be identified. Data associated with the object may then be stored in a set of radar detection data that that also includes locations of other objects that were detected by direct observations made by the radar apparatus of the first vehicle.

1 . A method for processing radar data by an apparatus of a first vehicle, the method comprising:
 extracting an identifier of a radar device from a received radar signal set;   associating the received radar signal set with a radar detection, wherein the radar detection is an object within a field of view of the radar device when the object is located in a blind spot of the apparatus of the first vehicle;   identifying that the radar device identifier is associated with a second vehicle;   receiving information that includes a location of the second vehicle; and   performing an evaluation that identifies a location of the radar detection when the object is within the field of view of the radar device and when the object is located in the blind spot of the first vehicle.   
     
     
         2 . The method of  claim 1 , further comprising extracting characteristics of the radar device of the second vehicle from the received information, wherein the location of the radar detection is based at least in part on the characteristics of the radar device. 
     
     
         3 . The method of  claim 2 , wherein the characteristics of the radar device include at least one of a frequency, a magnitude, a phase, a chirp rate, a frequency change rate, or a duration time of the received radar signal set. 
     
     
         4 . The method of  claim 1 , further comprising establishing vehicle to vehicle (V2V) communications via a communication device of the second vehicle, wherein the received information is received via the V2V communications. 
     
     
         5 . The method of  claim 1 , further comprising:
 identifying a first vector to associate with the received signal set and the radar detection; and   identifying a second vector to associate with the second vehicle and the detection, wherein the location of the radar detection is associated with a point where the first vector intersects the second vector.   
     
     
         6 . The method of  claim 1 , further comprising storing a data point in association with information that identifies the location of the radar detection as part of a set of radar detection data, wherein the set of radar detection data also includes data points associated with radar signals transmitted and received by the apparatus of the first vehicle. 
     
     
         7 . The method of  claim 1 , further comprising transmitting information for receipt by an apparatus of another vehicle, the transmitted information identifying a location of the first vehicle. 
     
     
         8 . The method of  claim 7 , wherein the transmitted information also includes one or more characteristics of the apparatus of the first vehicle. 
     
     
         9 . A computing system for processing radar data, the system comprising:
 at least one non-transitory computer readable medium comprising instructions stored thereon, wherein the instructions are effective to cause the computing system to:
 extract an identifier of a radar device from a received radar signal set; 
 associate the received radar signal set with a radar detection, wherein the radar detection is an object within a field of view of the radar device when the object is located in a blind spot of the apparatus of the first vehicle; 
 identify that the radar device identifier is associated with a second vehicle; 
 receive information that includes a location of the second vehicle; and 
 perform an evaluation that identifies a location of the radar detection when the object is within the field of view of the radar device and when the object is located in the blind spot of the first vehicle. 
   
     
     
         10 . The computing system of  claim 9 , wherein the instructions are effective to further cause the computing system to extract characteristics of the radar device of the second vehicle from the received information, wherein the location of the radar detection is based at least in part on the characteristics of the radar device. 
     
     
         11 . The computing system of  claim 10 , wherein the characteristics of the radar device include at least one of a frequency, a magnitude, a phase, a chirp rate, a frequency change rate, or a duration time of the received radar signal set. 
     
     
         12 . The computing system of  claim 9 , wherein the instructions are effective to further cause the computing system to establish vehicle to vehicle (V2V) communications via a communication device of the second vehicle, wherein the received information is received via the V2V communications. 
     
     
         13 . The computing system of  claim 9 , wherein the instructions are effective to further cause the computing system to:
 identify a first vector to associate with the received signal set and the radar detection; and   identify a second vector to associate with the second vehicle and the detection, wherein the location of the radar detection is associated with a point where the first vector intersects the second vector.   
     
     
         14 . The computing system of  claim 9 , wherein the instructions are effective to further cause the computing system to store a data point in association with information that identifies the location of the radar detection as part of a set of radar detection data, wherein the set of radar detection data also includes data points associated with radar signals transmitted and received by the apparatus of the first vehicle. 
     
     
         15 . The computing system of  claim 9 , wherein the instructions are effective to further cause the computing system to transmit information for receipt by an apparatus of another vehicle, the transmitted information identifying a location of the first vehicle. 
     
     
         16 . The computing of  claim 15 , wherein the transmitted information also includes one or more characteristics of the apparatus of the first vehicle. 
     
     
         17 . A non-transitory computer readable medium comprising instructions stored thereon, wherein the instructions are effective to cause the computing system to:
 extract an identifier of a radar device from a received radar signal set;   associate the received radar signal set with a radar detection, wherein the radar detection is an object within a field of view of the radar device when the object is located in a blind spot of the apparatus of the first vehicle;   identify that the radar device identifier is associated with a second vehicle;   receive information that includes a location of the second vehicle; and   perform an evaluation that identifies a location of the radar detection when the object is within the field of view of the radar device and when the object is located in the blind spot of the first vehicle.   
     
     
         18 . The non-transitory computer-readable medium of  claim 17 , wherein the instructions are effective to further cause the computing system to extract characteristics of the radar device of the second vehicle from the received information, wherein the location of the radar detection is based at least in part on the characteristics of the radar device. 
     
     
         19 . The computing system of  claim 18 , wherein the characteristics of the radar device include at least one of a frequency, a magnitude, a phase, a chirp rate, a frequency change rate, or a duration time of the received radar signal set. 
     
     
         20 . The non-transitory computer-readable medium of  claim 17 , wherein the instructions are effective to further cause the computing system to establish vehicle to vehicle (V2V) communications via a communication device of the second vehicle, wherein the received information is received via the V2V communications.